src/psp.cc

   1 #include <cmath>
   2 #include <list>
   3 #include <queue>
   4 #include "psp.h"
   5
   6 bool PSPlanner::collide()
   7 {
   8         std::vector<std::tuple<double, double>> bc;
   9         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  10         bc.push_back(std::make_tuple(this->cc().lrx(), this->cc().lry()));
  11         bc.push_back(std::make_tuple(this->cc().rrx(), this->cc().rry()));
  12         bc.push_back(std::make_tuple(this->cc().rfx(), this->cc().rfy()));
  13         bc.push_back(std::make_tuple(this->cc().lfx(), this->cc().lfy()));
  14         std::vector<std::tuple<double, double>> ps;
  15         ps.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
  16         ps.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
  17         ps.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
  18         ps.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
  19         return std::get<0>(::collide(bc, ps));
  20 }
  21
  22 bool PSPlanner::forward()
  23 {
  24         if (this->ps().parallel())
  25                 return false;
  26         else
  27                 return true;
  28         double heading = atan2(
  29                 this->ps().y2() - this->ps().y1(),
  30                 this->ps().x2() - this->ps().x1()
  31         );
  32         while (heading < 0) heading += 2 * M_PI;
  33         double h = this->gc().h();
  34         while (h < 0) h += 2 * M_PI;
  35         if (std::abs(heading - h) < M_PI / 4)
  36                 return true;
  37         return false;
  38 }
  39
  40 void PSPlanner::gc_to_4()
  41 {
  42         double angl_slot = atan2(
  43                 this->ps().y3() - this->ps().y4(),
  44                 this->ps().x3() - this->ps().x4()
  45         );
  46         double angl_delta = M_PI / 2;
  47         if (this->ps().right())
  48                 angl_delta = -M_PI / 2;
  49         double x = this->ps().x4();
  50         double y = this->ps().y4();
  51         x += (this->gc().dr() + 0.01) * cos(angl_slot);
  52         y += (this->gc().dr() + 0.01) * sin(angl_slot);
  53         x += (this->gc().w() / 2 + 0.01) * cos(angl_slot + angl_delta);
  54         y += (this->gc().w() / 2 + 0.01) * sin(angl_slot + angl_delta);
  55         this->gc().x(x);
  56         this->gc().y(y);
  57         this->gc().h(angl_slot);
  58 }
  59
  60 std::tuple<double, double, double, double> circle_line_intersection(
  61         double cx, double cy, double r,
  62         double x1, double y1,
  63         double x2, double y2
  64 )
  65 {
  66         double t = (y2 - y1) / (x2 - x1);
  67         //double a = 1 + pow(t, 2);
  68         //double b = - 2 * cx - 2 * pow(t, 2) * x1 + 2 * t * y1 - 2 * t * cy;
  69         //double c = pow(cx, 2) + pow(t, 2) * pow(x1, 2) - 2 * t * y1 * x1
  70         //        + pow(y1, 2) + 2 * t * cy * x1 - 2 * y1 * cy + pow(cy, 2)
  71         //        - pow(r, 2);
  72         double a = 1 + pow(t, 2);
  73         double b = - 2 * cx + 2 * t * (-t * x1 + y1) - 2 * cy * t;
  74         double c = pow(cx, 2) + pow(cy, 2) - pow(r, 2);
  75         c += pow(-t * x1 + y1, 2);
  76         c += 2 * cy * t * x1 - 2 * cy * y1;
  77         double D = pow(b, 2) - 4 * a * c;
  78         if (D < 0)
  79                 return std::make_tuple(cx, cy, cx, cy);
  80         double res_x1 = (-b + sqrt(D)) / (2 * a);
  81         double res_y1 = t * (res_x1 - x1) + y1;
  82         double res_x2 = (-b - sqrt(D)) / (2 * a);
  83         double res_y2 = t * (res_x2 - x1) + y1;
  84         return std::make_tuple(res_x1, res_y1, res_x2, res_y2);
  85 }
  86
  87 double edist(double x1, double y1, double x2, double y2)
  88 {
  89         return sqrt(pow(x2 - x1, 2) + pow(y2 - y1, 2));
  90 }
  91
  92 void PSPlanner::guess_gc()
  93 {
  94         double x = this->ps().x1();
  95         double y = this->ps().y1();
  96         double h = this->ps().heading();
  97         double dts = + M_PI / 2; // direction to slot
  98         if (this->ps().right())
  99                 dts = - M_PI / 2;
 100         if (this->ps().parallel()) {
 101                 x += (this->gc().w() / 2 + 0.01) * cos(h + dts);
 102                 x += (this->gc().dr() + 0.01) * cos(h);
 103                 y += (this->gc().w() / 2 + 0.01) * sin(h + dts);
 104                 y += (this->gc().dr() + 0.01) * sin(h);
 105         } else {
 106                 // Forward parking
 107                 double entry_width = edist(
 108                         this->ps().x1(), this->ps().y1(),
 109                         this->ps().x4(), this->ps().y4()
 110                 );
 111                 x += entry_width / 2 * cos(h);
 112                 y += entry_width / 2 * sin(h);
 113                 h = atan2(
 114                         this->ps().y2() - this->ps().y1(),
 115                         this->ps().x2() - this->ps().x1()
 116                 );
 117                 while (h < 0) h += 2 * M_PI;
 118
 119                 //// This is for backward parking only.
 120                 //double entry_width = edist(
 121                 //        this->ps().x1(), this->ps().y1(),
 122                 //        this->ps().x4(), this->ps().y4()
 123                 //);
 124                 //double dist_l =
 125                 //        this->gc().orradi()
 126                 //        - (this->gc().mtr() + this->gc().w() / 2)
 127                 //;
 128                 //double move1 = dist_l + this->gc().w() / 2;
 129                 //double dist_r = entry_width - this->gc().w() - dist_l;
 130                 //double move2 = sqrt(
 131                 //        pow(this->gc().iradi(), 2)
 132                 //        - pow(this->gc().iradi() - dist_r, 2)
 133                 //);
 134                 //move2 -= this->gc().dr() / 2; // workaround
 135                 //x += move1 * cos(h);
 136                 //y += move1 * sin(h);
 137                 //dts = atan2(
 138                 //        this->ps().y2() - this->ps().y1(),
 139                 //        this->ps().x2() - this->ps().x1()
 140                 //);
 141                 //while (dts < 0) dts += 2 * M_PI;
 142                 //x += move2 * cos(h + dts);
 143                 //y += move2 * sin(h + dts);
 144                 //h += dts - M_PI / 2;
 145         }
 146         while (h > M_PI)
 147                 h -= 2 * M_PI;
 148         while (h <= -M_PI)
 149                 h += 2 * M_PI;
 150         this->gc().x(x);
 151         this->gc().y(y);
 152         this->gc().h(h);
 153 }
 154
 155 bool PSPlanner::left()
 156 {
 157         double lfx = this->cc().lfx();
 158         double lfy = this->cc().lfy();
 159         double lrx = this->cc().lrx();
 160         double lry = this->cc().lry();
 161         double rrx = this->cc().rrx();
 162         double rry = this->cc().rry();
 163         double rfx = this->cc().rfx();
 164         double rfy = this->cc().rfy();
 165         double lfs = sgn(
 166                 (lfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 167                 - (lfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 168         );
 169         double lrs = sgn(
 170                 (lrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 171                 - (lry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 172         );
 173         double rrs = sgn(
 174                 (rrx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 175                 - (rry - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 176         );
 177         double rfs = sgn(
 178                 (rfx - this->ps().x1()) * (this->ps().y4() - this->ps().y1())
 179                 - (rfy - this->ps().y1()) * (this->ps().x4() - this->ps().x1())
 180         );
 181         if (this->ps().parallel())
 182                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 183         else if (!this->forward())
 184                 return lfs == rfs && (lfs != lrs || lfs != rrs);
 185         else
 186                 return lrs == rrs && (lrs != lfs || lrs != rfs);
 187 }
 188
 189 bool PSPlanner::parked()
 190 {
 191         std::vector<std::tuple<double, double>> slot;
 192         slot.push_back(std::make_tuple(this->ps().x1(), this->ps().y1()));
 193         slot.push_back(std::make_tuple(this->ps().x2(), this->ps().y2()));
 194         slot.push_back(std::make_tuple(this->ps().x3(), this->ps().y3()));
 195         slot.push_back(std::make_tuple(this->ps().x4(), this->ps().y4()));
 196         return inside(this->gc().lfx(), this->gc().lfy(), slot)
 197                 && inside(this->gc().lrx(), this->gc().lry(), slot)
 198                 && inside(this->gc().rrx(), this->gc().rry(), slot)
 199                 && inside(this->gc().rfx(), this->gc().rfy(), slot);
 200 }
 201
 202 std::vector<BicycleCar> PSPlanner::possible_goals(
 203         unsigned int cnt,
 204         double dist
 205 )
 206 {
 207         std::vector<BicycleCar> pi;
 208         if (this->ps().parallel())
 209                 this->cc().sp(1);
 210         else
 211                 this->cc().sp(-1);
 212         this->cc().sp(this->cc().sp() * dist);
 213         BicycleCar orig_cc(this->cc());
 214         for (unsigned int i = 0; i < cnt; i++) {
 215                 this->cc().next();
 216                 pi.push_back(BicycleCar(this->cc()));
 217         }
 218         this->cc() = BicycleCar(orig_cc);
 219         if (this->ps().parallel()) {
 220                 this->cc().st(0);
 221                 for (unsigned int i = 0; i < cnt; i++) {
 222                         this->cc().next();
 223                         pi.push_back(BicycleCar(this->cc()));
 224                 }
 225                 this->cc() = BicycleCar(orig_cc);
 226         } else {
 227                 if (!this->ps().right()) {
 228                         this->cc().set_max_steer();
 229                         for (unsigned int i = 0; i < cnt; i++) {
 230                                 this->cc().next();
 231                                 pi.push_back(BicycleCar(this->cc()));
 232                         }
 233                 } else {
 234                         this->cc().set_max_steer();
 235                         this->cc().st(this->cc().st() * -1);
 236                         for (unsigned int i = 0; i < cnt; i++) {
 237                                 this->cc().next();
 238                                 pi.push_back(BicycleCar(this->cc()));
 239                         }
 240                 }
 241                 this->cc() = BicycleCar(orig_cc);
 242         }
 243         return pi;
 244 }
 245
 246 // find entry
 247 void PSPlanner::fe()
 248 {
 249         this->c_ = 0;
 250         if (this->ps().parallel()) {
 251                 return this->fe_parallel();
 252         } else {
 253                 this->guess_gc();
 254                 this->cc() = BicycleCar(this->gc());
 255                 //this->cc().set_max_steer();
 256                 //if (this->ps().right())
 257                 //        this->cc().st(this->cc().st() * -1);
 258                 this->cc().sp(-0.2);
 259         }
 260 }
 261
 262 void PSPlanner::fe_parallel()
 263 {
 264         BicycleCar bco = BicycleCar(this->gc());
 265         this->cc() = BicycleCar();
 266         this->cc().sp(-0.01);
 267         this->cc().set_max_steer();
 268         if (!this->ps().right())
 269                 this->cc().st(this->cc().st() * -1);
 270         this->cc().h(this->ps().heading());
 271         double angl_in_slot = this->ps().heading() - M_PI / 4;
 272         if (!this->ps().right())
 273                 angl_in_slot += M_PI / 2;
 274         this->cc().x(
 275                 this->ps().x4()
 276                 + this->cc().w()/2 * cos(
 277                         this->ps().heading()
 278                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 279                 )
 280                 + (this->cc().df() + 0.01) * cos(
 281                         this->ps().heading() + M_PI
 282                 )
 283         );
 284         this->cc().y(
 285                 this->ps().y4()
 286                 + this->cc().w()/2 * sin(
 287                         this->ps().heading()
 288                         + (this->ps().right() ? + M_PI / 2 : - M_PI / 2)
 289                 )
 290                 + (this->cc().df() + 0.01) * sin(
 291                         this->ps().heading() + M_PI
 292                 )
 293         );
 294
 295         std::queue<BicycleCar, std::list<BicycleCar>> q;
 296         while (!this->collide()) {
 297                 q.push(this->cc());
 298                 this->cc().rotate(
 299                         this->ps().x4(),
 300                         this->ps().y4() - 0.01,
 301                         ((this->ps().right()) ? 0.001 : -0.001)
 302                 );
 303         }
 304         // BFS - find entry current car `cc` and corresponding goal car `gc`
 305         unsigned int iter_cntr = 0;
 306         while (!q.empty() && iter_cntr < 30) {
 307                 this->cc() = BicycleCar(q.front());
 308                 q.pop();
 309                 while (
 310                         !this->collide()
 311                         && (std::abs(
 312                                 this->cc().h() - this->ps().heading()
 313                         ) > M_PI / 32)
 314                         && (std::abs(
 315                                 this->cc().h() - this->ps().heading()
 316                         ) < M_PI / 2)
 317                 )
 318                         this->cc().next();
 319                 this->cc().sp(this->cc().sp() * -1);
 320                 this->cc().next();
 321                 this->gc() = BicycleCar(this->cc());
 322                 if (this->parked())
 323                         goto successfinish;
 324                 this->cc().st(this->cc().st() * -1);
 325                 q.push(BicycleCar(this->cc()));
 326                 if (sgn(this->cc().st()) == sgn(q.front().st()))
 327                         iter_cntr++;
 328         }
 329         // fallback to fer
 330         this->gc() = BicycleCar(bco);
 331 successfinish:
 332         return this->fer_parallel();
 333 }
 334
 335 void PSPlanner::fe_perpendicular()
 336 {
 337         // TODO Try multiple angles when going from parking slot.
 338         //
 339         //      Do not use just the maximum steer angle. Test angles
 340         //      until the whole current car `cc` is out of the parking
 341         //      slot `ps`.
 342         //
 343         //      Another approach could be testing angles from the
 344         //      beginning of the escape parkig slot maneuver.
 345         if (this->forward())
 346                 this->cc().sp(-0.01);
 347         else
 348                 this->cc().sp(0.01);
 349         while (!this->left())
 350                 this->cc().next();
 351         return;
 352 }
 353
 354 void PSPlanner::fer()
 355 {
 356         this->c_ = 0;
 357         if (this->ps().parallel()) {
 358                 this->guess_gc();
 359                 this->cc() = BicycleCar(this->gc());
 360                 this->cc().set_max_steer();
 361                 if (!this->ps().right())
 362                         this->cc().st(this->cc().st() * -1);
 363                 this->cc().sp(0.01);
 364                 return this->fer_parallel();
 365         } else {
 366                 return this->fer_perpendicular();
 367         }
 368 }
 369
 370 void PSPlanner::fer_parallel()
 371 {
 372         this->cusps_.clear();
 373         while (!this->left()) {
 374                 while (!this->collide() && !this->left())
 375                         this->cc().next();
 376                 if (this->left() && !this->collide()) {
 377                         break;
 378                 } else {
 379                         this->cc().sp(this->cc().sp() * -1);
 380                         this->cc().next();
 381                         this->cc().st(this->cc().st() * -1);
 382                         this->c_++;
 383                         this->cusps_.push_back(this->cc());
 384                 }
 385         }
 386         if (this->cc().st() < 0) {
 387                 this->c_++;
 388                 this->cusps_.push_back(this->cc());
 389         }
 390 }
 391
 392 void PSPlanner::fer_perpendicular()
 393 {
 394         bool delta_use[] = {true, true, true};
 395         double cc_h = this->cc().h();
 396         double x;
 397         double y;
 398         // check inner radius
 399         if (this->forward()) {
 400                 x = this->ps().x1();
 401                 y = this->ps().y1();
 402         } else {
 403                 x = this->ps().x4();
 404                 y = this->ps().y4();
 405         }
 406         double x1;
 407         double y1;
 408         if (this->ps().right()) {
 409                 x1 = this->cc().ccr().x();
 410                 y1 = this->cc().ccr().y();
 411         } else {
 412                 x1 = this->cc().ccl().x();
 413                 y1 = this->cc().ccl().y();
 414         }
 415         double IR = this->cc().iradi();
 416         double a = 1;
 417         double b;
 418         if (this->forward())
 419                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 420         else
 421                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 422         double c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 423         double D = pow(b, 2) - 4 * a * c;
 424         double delta;
 425         delta = -b - sqrt(D);
 426         delta /= 2 * a;
 427         double delta_1 = delta;
 428         if (D < 0)
 429                 delta_use[0] = false;
 430         // check outer radius
 431         if (this->forward()) {
 432                 x = this->ps().x4();
 433                 y = this->ps().y4();
 434         } else {
 435                 x = this->ps().x1();
 436                 y = this->ps().y1();
 437         }
 438         IR = this->cc().ofradi();
 439         a = 1;
 440         if (this->forward())
 441                 b = (x - x1) * 2 * cos(cc_h) + (y - y1) * 2 * sin(cc_h);
 442         else
 443                 b = (x1 - x) * 2 * cos(cc_h) + (y1 - y) * 2 * sin(cc_h);
 444         c = pow(x - x1, 2) + pow(y - y1, 2) - pow(IR, 2);
 445         D = pow(b, 2) - 4 * a * c;
 446         if (this->forward()) {
 447                 delta = -b + sqrt(D);
 448                 delta /= 2 * a;
 449         }
 450         double delta_2 = delta;
 451         if (D < 0)
 452                 delta_use[1] = false;
 453         delta = -b - sqrt(D);
 454         delta /= 2 * a;
 455         double delta_3 = delta;
 456         if (D < 0)
 457                 delta_use[2] = false;
 458         if (delta_use[0] && delta_use[1] && delta_use[2])
 459                 delta = std::max(delta_1, std::max(delta_2, delta_3));
 460         else if (delta_use[0] && delta_use[1])
 461                 delta = std::max(delta_1, delta_2);
 462         else if (delta_use[0] && delta_use[2])
 463                 delta = std::max(delta_1, delta_3);
 464         else if (delta_use[1] && delta_use[2])
 465                 delta = std::max(delta_2, delta_3);
 466         else if (delta_use[0])
 467                 delta = delta_1;
 468         else if (delta_use[1])
 469                 delta = delta_2;
 470         else if (delta_use[2])
 471                 delta = delta_3;
 472         else
 473                 return;
 474         // current car `cc` can get out of slot with max steer
 475         this->cc().x(this->cc().x() + delta * cos(cc_h));
 476         this->cc().y(this->cc().y() + delta * sin(cc_h));
 477         this->cc().h(cc_h);
 478         // get current car `cc` out of slot
 479         if (this->forward())
 480                 this->cc().sp(-0.01);
 481         else
 482                 this->cc().sp(0.01);
 483         this->cc().set_max_steer();
 484         if (this->ps().right())
 485                 this->cc().st(this->cc().st() * -1);
 486         while (!this->left()) {
 487                 while (!this->collide() && !this->left())
 488                         this->cc().next();
 489                 if (this->left() && !this->collide()) {
 490                         break;
 491                 } else {
 492                         this->cc().sp(this->cc().sp() * -1);
 493                         this->cc().next();
 494                         this->cc().st(this->cc().st() * -1);
 495                 }
 496         }
 497 }
 498
 499 PSPlanner::PSPlanner()
 500 {
 501 }